Systems And Methods for Providing Flight Control for an Unmanned Aerial Vehicle Based on Opposing Fields of View with Overlap

ABSTRACT

This disclosure relates to providing flight control for an unmanned aerial vehicle based on opposing fields of view with overlap. The UAV may include a housing, a motor, a first image sensor, a second image sensor, a first optical element having a first field of view greater than 180 degrees, a second optical element having a second field of view greater than 180 degrees, and one or more processors. The first optical element and the second optical element may be carried by the housing such that a centerline of the second field of view is substantially opposite from a centerline of the first field of view, and a peripheral portion of the first field of view and a peripheral portion of the second field of view overlap. Flight control for the UAV may be provided based on parallax disparity of an object within the overlapping fields of view.

CROSS-REFERENCE TO RELATED APPLICATION(S)

This application is a continuation of U.S. patent application Ser. No.15/663,370, filed on Jul. 28, 2017, which is a continuation of U.S.patent application Ser. No. 14/977,522 filed on Dec. 21, 2015, now U.S.Pat. No. 9,720,413, the contents of which are incorporated by referenceherein.

FIELD

This disclosure relates to systems and methods for providing flightcontrol for an unmanned aerial vehicle based on overlapping fields ofview.

BACKGROUND

It is known that unmanned aerial vehicles, or UAVs, may be equipped witha pair of optical elements that guide light to image sensors, and thatimages of an object captured by the image sensors may be used todetermine parallax disparity of the object. In such UAVs, the opticalelements are arranged side by side, like human eyes, and are directedtowards the same view.

SUMMARY

The disclosure relates to providing flight control for an unmannedaerial vehicle based on opposing fields of view with overlap. Overlapbetween opposing fields of view may be created by a first opticalelement, having a first field of view greater than 180 degrees, and asecond optical element, having a second field of view greater than 180degrees, carried by a housing of the UAV such that a centerline of thesecond field of view is substantially opposite from a centerline of thefirst field of view, and such that a peripheral portion of the firstfield of view and a peripheral portion of the second field of viewoverlap. Parallax disparity of an object within the overlapping fieldsof view may be determined and flight control for the UAV may be providedbased on the parallax disparity.

A UAV may include one or more of an housing, a motor, a first imagesensor, a second image sensor, a first optical element, a second opticalelement, one or more processors, and/or other components. The motor maybe carried by the housing and may be configured to drive a rotor. Therotor may provide thrust to move the UAV in any direction.

The first image sensor may be carried within the housing and may beconfigured to generate a first output signal conveying first visualinformation based on light that becomes incident thereon. The secondimage sensor may be carried within the housing and may be configured togenerate a second output signal conveying second visual informationbased on light that becomes incident thereon. The visual information mayinclude, by way of non-limiting example, one or more of an image, avideo, and/or other visual information.

In some implementations, the first image sensor may include one or moreof a charge-coupled device sensor, an active pixel sensor, acomplementary metal-oxide semiconductor sensor, an N-typemetal-oxide-semiconductor sensor, and/or other image sensors. In someimplementations, the second image sensor may include one or more of acharge-coupled device sensor, an active pixel sensor, a complementarymetal-oxide semiconductor sensor, an N-type metal-oxide-semiconductorsensor, and/or other image sensors.

The first optical element may be configured to guide light within afirst field of view to the first image sensor. The first field of viewmay be greater than 180 degrees, and the first optical element may becarried by the housing. In some implementations, the first opticalelement may be carried by the housing such that a centerline of thefirst field of view is substantially parallel to the vertical axis ofthe UAV.

The second optical element may be configured to guide light within asecond field of view to the second image sensor. The second field ofview may be greater than 180 degrees. The second optical element may becarried by the housing such that a centerline of the second field ofview is substantially opposite from a centerline of the first field ofview, and such that a peripheral portion of the first field of view anda peripheral portion of the second field of view overlap. In someimplementations, the peripheral portion of the first field of view andthe peripheral portion of the second field of view that overlap maycircumscribe the UAV around the vertical axis of the UAV.

In some implementations, the first optical element may include one ormore of a standard lens, a wide-angle lens, an ultra-wide-angle lens,fisheye lens, and/or other optical elements. In some implementations,the second optical element may include one or more of a standard lens, awide-angle lens, an ultra-wide-angle lens, fisheye lens, and/or otheroptical elements.

The one or more processors may be carried by the housing. The one ormore processor may be configured by machine readable instructions toreceive the first output signal and the second output signal. The one ormore processor may be configured by machine readable instructions todetermine a disparity of an object within the peripheral portion of thefirst field of view and the peripheral portion of the second field ofview that overlap.

The one or more processor may be configured by machine readableinstructions to provide flight control for the UAV based on thedisparity. In some implementations, providing flight control for the UAVbased on the disparity may include operating the UAV to maintain aminimum distance between the object and/or a maximum distance from theobject. In some implementations, providing flight control for the UAVbased on the disparity may include operating the UAV to maintain a setdistance from the object. In some implementations, providing flightcontrol for the UAV based on the disparity may include operating the UAVto maintain a minimum speed and/or a maximum speed. In someimplementations, providing flight control for the UAV based on thedisparity may include operating the UAV to maintain a set speed.

These and other objects, features, and characteristics of the systemand/or method disclosed herein, as well as the methods of operation andfunctions of the related elements of structure and the combination ofparts and economies of manufacture, will become more apparent uponconsideration of the following description and the appended claims withreference to the accompanying drawings, all of which form a part of thisspecification, wherein like reference numerals designate correspondingparts in the various figures. It is to be expressly understood, however,that the drawings are for the purpose of illustration and descriptiononly and are not intended as a definition of the limits of theinvention. As used in the specification and in the claims, the singularform of “a”, “an”, and “the” include plural referents unless the contextclearly dictates otherwise.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1A schematically illustrates a top-down view of an unmanned aerialvehicle in accordance with one or more implementations.

FIG. 1B schematically illustrates a side view of an unmanned aerialvehicle in accordance with one or more implementations.

FIG. 2 schematically illustrates a side view of an unmanned aerialvehicle with opposing fields of view with overlap in accordance with oneor more implementations.

FIG. 3 illustrates a method to provide flight control for an unmannedaerial vehicle based on opposing fields of view with overlap.

DETAILED DESCRIPTION

An unmanned aerial vehicle may be referred to as UAV. The term“unmanned” refers to the capability of the aerial vehicle to operatewithout requiring a human operator during a flight. In other words, atleast some portion of the flight control may be provided remotely and/orby an autopilot. In some implementations, a UAV may carry passengers,cargo, sensors, and/or other physical objects. In some implementations,a UAV may operate autonomously. Alternatively, and/or simultaneously, insome implementations, at least some functionality of a UAV may becontrolled and/or modified through remote control, e.g. by a person, forat least some portion of a flight. For example, a human may controland/or assist remotely in a particular maneuver, such as a take-off orlanding.

A UAV may be a fixed wing aircraft, a helicopter, a multi-rotor aircraft(e.g. a quadcopter), a rotary wing aircraft, and/or another type ofaircraft. In some implementations, a UAV may combine features ofmultiple types of aircraft. A UAV may include one or more componentsconfigured to provide thrust. By way of non-limiting example, the one ormore components providing thrust may include one or more wings,airfoils, motors, propellers, rotors, rotor discs, and/or othercomponents.

FIGS. 1A and 1B schematically illustrate an unmanned aerial vehicle 10(also referred to as UAV 10), in particular a quadcopter. The quadcopteris an exemplary and non-limiting implementation of UAV 10. Asillustrated in FIGS. 1A and 1B, UAV 10 may include four motors 12 andfour rotors 13. The number of motors and rotors of UAV 10 is notintended to be limited by any depiction. In some implementations, UAV 10may include one, two, three, four, five, six, and/or more than sixmotors and/or rotors.

UAV 10 may include one or more of housing 11, motor 12, rotor 13, firstimage sensor 14, second image sensor 15, first optical element 16,second optical element 17, processor 18, electronic storage 19, and/orother components. First optical element 16 may have a first field ofview great than 180 degrees, and second optical element 17 may have asecond field of view greater than 180 degrees. The first field of viewand the second field of view may overlap. First image sensor 14 maygenerate a first output signal conveying first visual information basedon light guided to first image sensor 14 by first optical element 16,and second image sensor 15 may generate a second output signal conveyingsecond visual information based on light guided to second image sensor14 by second optical element 17. Processor 18 may receive the firstoutput signal and the second output signal and determine a disparity ofan object within the overlapping portions of the first field of view andthe second field of view. Processor 18 may provide flight control forUAV 10 based on the disparity.

Housing 11 may be configured to attach to, support, hold, and/or carrycomponents of UAV 10. The combination of housing 11 and componentsattached to, supported, held, and/or carried by housing 11 may bereferred to as an unmanned aerial vehicle.

Rotor 13 may be driven by motor 12. In some implementations, rotor 13may include a rotor blade, a hub, and a mast. The rotor blade may beconnected to the hub, the hub may be connected to the mast, and the mastmay be connected to motor 12. In some implementations, rotor 13 mayinclude a rotor blade and a hub. The rotor blade may be connected to thehub, and the hub may be connected to motor 12.

Rotors 13 may provide thrust to move UAV 10 along any direction. In athree-dimensional Cartesian coordinate system, rotors 13 may providethrust to move UAV 10 along the positive X-axis, the negative X-axis,the positive Y-axis, the negative Y-axis, the positive Z-axis, thenegative Z-axis, and any combination thereof. Rotors 13 may providethrust to rotate UAV 10 along pitch axis, roll axis, yaw axis, and anycombination thereof. Rotors 13 may provide thrust to rotate and move UAV10 at the same time.

First image sensor 14 may be carried within housing 11 and may beconfigured to generate a first output signal conveying first visualinformation based on light that becomes incident thereon. In someimplementations, the first image sensor may include one or more of acharge-coupled device sensor, an active pixel sensor, a complementarymetal-oxide semiconductor sensor, an N-type metal-oxide-semiconductorsensor, and/or other image sensors.

Second image sensor 15 may be carried within housing 11 and may beconfigured to generate a second output signal conveying second visualinformation based on light that becomes incident thereon. In someimplementations, the second image sensor may include one or more of acharge-coupled device sensor, an active pixel sensor, a complementarymetal-oxide semiconductor sensor, an N-type metal-oxide-semiconductorsensor, and/or other image sensors.

The first visual information may include, by way of non-limitingexample, one or more of an image, a video, and/or other visualinformation. The second visual information may include, by way ofnon-limiting example, one or more of an image, a video, and/or othervisual information. One or more of the first visual information and/orthe second visual information may be marked, timestamped, annotated,stored, and/or otherwise processed.

First optical element 16 may be configured to guide light within a firstfield of view to first image sensor 14. While an object is within thefirst field of view of first optical element 16, first visualinformation generated by first image sensor 14 includes the object. Thefirst field of view may be greater than 180 degrees.

First optical element may be carried by housing 11. In someimplementations, first optical element may 16 be carried by housing 11such that a centerline of the first field of view is substantiallyparallel to the vertical axis of UAV 10.

For example, FIG. 2 schematically illustrates a side view of UAV 10 withopposing fields of view with overlap in accordance with one or moreimplementations. The centerline of the first field of view 22 is shownas a dashed line. The vertical axis 24 of UAV 10 is shown as adot-dashed line. In FIG. 2, the centerline of the first field of view 22coincides with the vertical axis 24 of UAV 10, i.e., the centerline ofthe first field of view 22 and the vertical axis 24 of UAV 10 lie on topof one another. Because the two lines are coincident, they are alsoparallel.

Exemplary arrangement of first optical element 16 shown in FIGS. 1A, 1B,and 2 is not intended to be limiting. For example, while first opticalelement 16 is shown in FIG. 1A to be located at the center of top-downview of UAV 10, first optical element 16 may be located in otherlocations of UAV 10, offset from the center of top-down view of UAV 10.In some implementations where first optical element 16 is located offsetfrom the center of top-down view of UAV 10, the centerline of the firstfield of view of first optical element 16 and the vertical axis of UAV10 may not be coincident.

As another example, while the centerline of the first field of view 22and the vertical axis 24 of UAV 10 are shown in FIG. 2 to be parallel,the two lines may be offset from each other by certain degrees and stillbe substantially parallel to each other. In some implementations, thetwo lines may be substantially parallel when the centerline of the firstfield of view 22 is offset from the vertical axis 24 of UAV 10 by twodegrees or less. In some implementations, the two lines may besubstantially parallel when the centerline of the first field of view 22is offset from the vertical axis 24 of UAV 10 by four degrees or less.In some implementations, the two lines may be substantially parallelwhen the centerline of the first field of view 22 is offset from thevertical axis 24 of UAV 10 by six degrees or less. In someimplementations, the two lines may be substantially parallel when thecenterline of the first field of view 22 is offset from the verticalaxis 24 of UAV 10 by eight degrees or less. In some implementations, thetwo lines may be substantially parallel when the centerline of the firstfield of view 22 is offset from the vertical axis 24 of UAV 10 by tendegrees or less.

In some implementations, the two lines may be substantially parallelwhen the centerline of the first field of view 22 is offset from thevertical axis 24 of UAV 10 by degrees less than or equal to the degreeof tilt of UAV 10 when UAV 10 is moving. For example, UAV 10 may tiltforward by twelve degrees when UAV 10 is moving forward. In someimplementations, the two lines may be substantially parallel when thecenterline of the first field of view 22 is offset from the verticalaxis 24 of UAV 10 by twelve degrees or less.

In some implementations, the offset of the centerline of the first fieldof view 22 from the vertical axis 24 of UAV 10 may change duringoperation of UAV 10. For example, the offset of the centerline of thefirst field of view 22 from the vertical axis 24 of UAV 10 may changebased on the degree of tilt of UAV 10. In some implementations, theoffset may change to be less than or equal to the degree of tilt of UAV10.

Second optical element 17 may be configured to guide light within asecond field of view to second image sensor 15. While an object iswithin the second field of view of second optical element 17, secondvisual information generated by second image sensor 15 includes theobject. The second field of view may be greater than 180 degrees.

Second optical element 17 may be carried by housing 11 such that acenterline of the second field of view is substantially opposite from acenterline of the first field of view. In FIG. 2, the centerline of thesecond field of view 23 is shown as a dotted line. The centerline of thesecond field of view 23 is directly opposite from the centerline of thefirst field of view 22, i.e., the centerline of the second field of view23 is 180 degrees from the centerline of the first field of view 22.

While FIG. 2 shows the centerline of the second field of view 23 to bedirectly opposite from the centerline of the first field of view 22,this is not intended to be limiting. In some implementations, firstoptical element 16 may be located at the center of top-down view of UAV10 while second optical element 17 may not be located at the center oftop-down view of UAV 10. The centerline of the first field of view 22and the vertical axis 24 of UAV 10 may be coincident, while thecenterline of the second field of view 23 may be laterally offset fromthe centerline of the first field of view 22. Other arrangements offirst optical element 16 and second optical element 17 are contemplated.

In some implementations, the centerline of the second field of view 23may be offset by certain degrees from the opposite of the centerline ofthe first field of view 22, and the centerline of the second field ofview 23 and the centerline of the first field of view 22 may still besubstantially opposite from each other. In some implementations, the twolines may be substantially opposite from each other when the centerlineof the second field of view 23 is offset from the opposite of thecenterline of the first field of view 22 by two degrees or less. In someimplementations, the two lines may be substantially opposite from eachother when the centerline of the second field of view 23 is offset fromthe opposite of the centerline of the first field of view 22 by fourdegrees or less. In some implementations, the two lines may besubstantially opposite from each other when the centerline of the secondfield of view 23 is offset from the opposite of the centerline of thefirst field of view 22 by six degrees or less. In some implementations,the two lines may be substantially opposite from each other when thecenterline of the second field of view 23 is offset from the opposite ofthe centerline of the first field of view 22 by eight degrees of less.In some implementations, the two lines may be substantially oppositefrom each other when the centerline of the second field of view 23 isoffset from the opposite of the centerline of the first field of view 22by ten degrees or less.

Second optical element 17 may be carried by housing 11 such that aperipheral portion of the first field of view and a peripheral portionof the second field of view overlap. In FIG. 2, the angle of the firstfield of view is shown as angle alpha (α), and the angle of the secondfield of view is shown as angle beta (β). Angle α may be greater than180 degrees. Angel β may be greater than 180 degrees. In someimplementations, angle α may be equal to angel β. In someimplementations, angle α may be greater than angel β. In someimplementations, angle α may be less than angel β.

In some implementations, angle α may be 190 degrees. In someimplementations, angle α may be greater than 185 degrees. In someimplementations, angle α may be greater than 190 degrees. In someimplementations, angle β may be 190 degrees. In some implementations,angle β may be greater than 185 degrees. In some implementations, angleβ may be greater than 190 degrees. Other angles for angle α and angle βare contemplated.

A peripheral portion of the first field of view and a peripheral portionof the second field of view may overlap. The overlapping portions of theperipheral portion of the first field of view and the peripheral portionof the second field of view is shown in FIG. 2 as overlapping fields ofview 21. In some implementations, the angle of overlapping fields ofview 21 may be symmetrical. For example, the angle of overlapping fieldof view 21 may be the same in all lateral directions around UAV 10. Asanother example, the angle of overlapping field of view 21 above UAV 10may be equal to the angle of overlapping field of view 21 below UAV 10.

In some implementations, the angle of overlapping fields of view 21 maybe asymmetrical. For example, the angle of overlapping field of view 21in lateral directions around UAV 10 may be different. By way ofnon-limiting example, the angle of overlapping field of view 21 in frontof UAV 10 may be greater than the angle of overlapping field of view 21behind UAV 10. As another example, the angle of overlapping field ofview 21 below UAV 10 may be greater than the angle of overlapping fieldof view 21 above UAV 10.

In some implementations, the angle of overlapping field of view 21 maychange during operation of UAV 10. For example, the angle of overlappingfield of view 21 in lateral directions around UAV 10 may change so thatthe angle of overlapping field of view 21 in the direction of movementof UAV 10 becomes larger. As another example, the angle of overlappingfields of view 21 above and below UAV 10 may change to increase in thedirection of movement of UAV 10.

In some implementations, first optical element 16 and second opticalelement 176 may be carried by housing 11 such that blind spots in thefirst field of view and the second field of view caused by shape and/orcurvature of UAV 10 are minimized.

The above described arrangement of first optical element 16 and secondoptical element 17 may allow for parallax disparity detection of anobject within the overlapping portions of the peripheral portion of thefirst field of view of first optical element 16 and the peripheralportion of the second field of view of second optical element 17.Distance between the object and UAV 10 may be determined based on theparallax disparity.

Parallax refers to the seeming change in position of an object becauseof a change in the observer's viewpoint. Parallax disparity is thechange in position of an object between two viewpoints. Parallaxdisparity is inversely proportional to the distance from the viewpointsto the object. Parallax disparity of an object and/or distance betweenan object and UAV 10 may be determined as described in U.S. patentapplication Ser. No. 14/949,798, entitled “UNMANNED AERIAL VEHICLE WITHPARALLAX DISPARITY DETECTION OFFSET FROM HORIZONTAL,” filed Nov. 23,2015, the foregoing being incorporated herein by reference in itsentirety.

In some implementations, the peripheral portion of the first field ofview and the peripheral portion of the second field of view that overlapmay circumscribe UAV 10 around the vertical axis of UAV 10. For example,as shown in FIG. 2, the overlapping fields of view 21 is symmetricalabout the vertical axis 24 of UAV 10 and circumscribes UAV 10 around thevertical axis 24 of UAV 10. In some implementations, the overlappingfields of view 21 may be asymmetrical about the vertical axis 24 of UAV10 and circumscribe UAV 10 around the vertical axis 24 of UAV 10. Forexample, the angle of overlapping fields of view 21, the angle ofoverlapping fields of view 21 below UAV 10, and/or the angle ofoverlapping fields of view 21 above UAV 10 may be different in differentlateral directions around UAV 10.

In some implementations, the peripheral portion of the first field ofview and the peripheral portion of the second field of view that overlapmay circumscribe UAV 10 around a line that is offset from the verticalaxis 24 of UAV 10. The line that is offset from the vertical axis 24 ofUAV 10 may be offset by a lateral direction and/or degrees.

First optical element 16 may guide light received from an object tofirst image sensor 14 directly or indirectly through use of one or morelight manipulating components. Second optical element 17 may guide lightreceived from an object to second image sensor 15 directly or indirectlythrough use of one or more light manipulating components. By way ofnon-limiting example, a light manipulating components may include one ormore of a mirror, a prism, lenses, and/or other light manipulatingcomponents.

In some implementations, first optical element 16 may include one ormore of a standard lens, a wide-angle lens, an ultra-wide-angle lens,fisheye lens, and/or other optical elements. In some implementations,second optical element 17 may include one or more of a standard lens, awide-angle lens, an ultra-wide-angle lens, fisheye lens, and/or otheroptical elements.

In some implementations, one or more of first image sensor 14, secondimage sensor 15, first optical element 16, and/or second optical element17 may be carried directly by housing 11. By way of non-limitingexample, one or more of first image sensor 14, second image sensor 15,first optical element 16, and/or second optical element 17 may be inphysical contact with housing 11 and may be directly attached to housing11, directly supported by housing 11, directly held by housing 11,and/or otherwise directly carried by housing 11.

In some implementations, one or more of first image sensor 14, secondimage sensor 15, first optical element 16, and/or second optical element17 may be carried indirectly by housing 11. By way of non-limitingexample, one or more of first image sensor 14, second image sensor 15,first optical element 16, and/or second optical element 17 may not be inphysical contact with housing 11 and may be indirectly attached tohousing 11, indirectly supported by housing 11, indirectly held byhousing 11, and/or otherwise indirectly carried by housing 11. Forexample, one or more of first image sensor 14, second image sensor 15,first optical element 16, and/or second optical element 17 may belocated in a container, and the container may be directly carried byhousing 11.

Electronic storage 19 may include electronic storage media thatelectronically stores information. Electronic storage 19 may storesoftware algorithms, information determined by processor 18, informationreceived remotely, and/or other information that enables UAV 10 tofunction properly. For example, electronic storage 19 may store visualinformation (as discussed elsewhere herein), and/or other information.

Processor 18 may be configured to provide information processingcapabilities in UAV 10. Processor 18 may include one or more of adigital processor, an analog processor, a digital circuit designed toprocess information, a central processing unit, a graphics processingunit, a microcontroller, an analog circuit designed to processinformation, a state machine, and/or other mechanisms for electronicallyprocessing information. By way of non-limiting example, amicrocontroller may be one or more of 8051, PIC, AVR, and ARMmicrocontroller. In some implementations, processor 18 may include aplurality of processing units. In some implementations, processor 18 maybe coupled with one or more of RAM, ROM, input/output ports, and/orother peripherals.

Processor 18 may be coupled, directly or indirectly, to one or moreflight control components. By way of non-limiting example, a flightcontrol component may include one or more of an actuator, a motor, arotor, an accelerometer, a rate of rotation sensor (e.g., a gyroscope),an inertial measurement unit, a compass, a magnetometer, a pressuresensor, a barometer, a global positioning system device, a distancesensor, an image sensor, an optical element, an electronic storage,and/or other flight control components.

Processor 18 may be configured by a computer-readable instruction toprovide information-processing capability. Information-processingcapability may include, but is not limited to, receiving a first outputsignal generated by first image sensor 14, receiving a second outputsignal generated by second image sensor 15, comparing first visualinformation conveyed within the first output signal with second visualinformation conveyed within the second output signal to determineparallax disparity of an object, and/or determining distance between theobject and UAV 10 based on the parallax disparity. The object may belocated within overlapping portions of a peripheral portion of a firstfield of view of first optical element 16 and a peripheral portion of asecond field of view of second optical element 17. Comparing the firstvisual information with the second visual information to determineparallax disparity of the object may include one or more of distortionremoval, image rectification, disparity map generation, and/or heightmap generation.

Parallax disparity of an object and/or distance between an object andUAV 10 may be determined as described in U.S. patent application Ser.No. 14/949,798, entitled “UNMANNED AERIAL VEHICLE WITH PARALLAXDISPARITY DETECTION OFFSET FROM HORIZONTAL,” filed Nov. 23, 2015,incorporated supra.

Information processing capability of processor 18 may include providingflight control for UAV 10 based on the disparity. By way of non-limitingexample, flight control may include one or more of stabilizationcontrol, navigation control, altitude control, attitude control,position control, propulsion control, engine control, and/or othercontrol needed and/or used during operation of unmanned aerial vehicles.

In some implementations, providing flight control for UAV 10 based onthe disparity may include operating UAV 10 to maintain a minimumdistance between the object and/or a maximum distance from the object. Aminimum distance may refer to one or both of horizontal distance and/orvertical distance that UAV 10 must keep between UAV 10 and the object.For example, providing flight control for UAV 10 based on the disparitymay include operating UAV 10 to avoid the object by maintaining acertain horizontal distance and/or a certain vertical distance from theobject. A maximum distance may refer to one or both of horizontaldistance and/or vertical distance from the object within which UAV 10must stay. For example, providing flight control for UAV 10 based on thedisparity may include operating UAV 10 to stay near or follow the objectby staying within a certain horizontal distance and/or a certainvertical distance around the object. In some implementations, providingflight control for UAV 10 based on the disparity may include operatingUAV 10 to maintain a set distance from the object. For example, UAV 10may be operated to maintain a set distance from an object by setting thesame distance for the minimum distance and the maximum distance. Otherimplementations to operate UAV 10 to maintain a set distance from anobject are contemplated. In some implementations, operating UAV 10 tomaintain a set distance from an object may include operating UAV 10 tomaintain a certain position with respect to the object. For example, UAV10 may be operated to maintain a set distance south of the object. Asanother example, UAV 10 may be operated to maintain a set distancebehind the object.

In some implementations, providing flight control for UAV 10 based onthe disparity may include operating UAV 10 to maintain a minimum speedand/or a maximum speed. A minimum speed may refer to one or both oflinear speed and/or angular speed that UAV 10 should not drop below. Amaximum speed may refer to one or both of linear speed and/or angularspeed that UAV 10 should not exceed. In some implementations, providingflight control for UAV 10 based on the disparity may include operatingUAV 10 to maintain a set speed in the vicinity of the object. Forexample, UAV 10 may be operated to maintain a set speed by setting thesame speed for the minimum speed and the maximum speed. Otherimplementations to operate UAV 10 to maintain a set speed arecontemplated.

In some implementations, providing flight control for UAV 10 based onthe disparity may include effectuating one or more operating behaviorsof UAV 10. Operating behavior may refer to one or more motions and/oroperations of UAV 10 and/or one or more components of UAV 10. Motion ofUAV 10 and/or one or more components of UAV 10 may refer to motion ofUAV 10/component(s) at a time, motion of UAV 10/component(s) over aperiod of time, motion of UAV 10/component(s) at a location, and/ormotion of the UAV 10/component(s) over a distance. Operation of UAV 10and/or one or more components of UAV 10 may refer to operation of UAV10/component(s) at a time, operation of UAV 10/component(s) over aperiod of time, operation of UAV 10/component(s) at a location, and/oroperation of UAV 10/component(s) over a distance.

In some implementations, computer-readable instructions may be stored inmemory of processor 18. In some implementations, the computer-readableinstructions may be stored in electronic storage 19. In someimplementations, the computer-readable instruction may be receivedthrough remote communication, including, but not limited to, radiocommunication, Bluetooth communication, Wi-Fi communication, cellularcommunication, infrared communication, and/or other remotecommunication. In some implementations, processor 18 may usecomputer-readable instruction from one or more of memory of processor18, electronic storage 19, and/or remote communication.

In some implementations, computer-readable instructions may includeflight control instructions. Processor 18 may include flight controlinstructions in its memory to provide flight control. In someimplementations, flight control instructions may be stored in electronicstorage 19. In some implementations, flight control instructions may bereceived through remote communication, including, but not limited to,radio communication, Bluetooth communication, Wi-Fi communication,cellular communication, infrared communication, and/or other remotecommunication. By way of non-limiting example, flight controlinstructions include one or more of moving UAV 10 in any direction,rotating UAV 10 in any direction, flying UAV 10 in a stable manner,tracking people or objects, avoiding collisions, changing or maintaininglinear speed of UAV 10, changing or maintaining angular speed of UAV 10,and/or other functions needed and/or used during operation of unmannedaerial vehicles.

In some implementations, flight control instructions may be stored inelectronic storage 19. In some implementations, flight controlinstructions may be received through remote communication, including,but not limited to, radio communication, Bluetooth communication, Wi-Ficommunication, cellular communication, infrared communication, and/orother remote communication. In some implementations, processor 18 mayuse flight control instructions from one or more of memory of processor18, electronic storage 19, and/or remote communication.

Although all components of UAV 10 are shown to be located in UAV 10 inFIGS. 1A and 1B, some or all of the components may be installed in UAV10 and/or be otherwise coupled with UAV 10. Any communication medium maybe used to facilitate interaction between any components of UAV 10. Oneor more components of UAV 10 may communicate with each other throughhard-wired communication, wireless communication, or both. Other typesof communications are contemplated by the present disclosure. By way ofnon-limiting example, wireless communication may include one or more ofradio communication, Bluetooth communication, Wi-Fi communication,cellular communication, infrared communication, or other wirelesscommunication.

Although first image sensor 14 and second image sensor 15 are depictedin FIG. 1B as single elements, this is not intended to be limiting. Oneor both of first image sensor 14 and/or second image sensor 15 mayinclude one or more image sensors in one or more locations on or in UAV10. Although first optical element 16 and second optical element 17 aredepicted in FIG. 1B as single elements, this is not intended to belimiting. One or both of first optical element 16 and/or second opticalelement 17 may include multiple actual components or pieces in one ormore locations on or in UAV 10.

Although processor 18 is shown in FIG. 1A as a single entity, this isfor illustrative purposes only. In some implementations, processor 18may comprise a plurality of processing units. These processing units maybe physically located within the same device, or processor 18 mayrepresent processing functionality of a plurality of devices operatingin coordination. Processor 18 may be configured to execute one or morecomputer-readable instructions by software; hardware; firmware; somecombination of software, hardware, and/or firmware; and/or othermechanisms for configuring processing capabilities on processor 18.

Electronic storage 19 may include electronic storage media thatelectronically stores information. The electronic storage media ofelectronic storage 19 may be provided integrally (i.e., substantiallynon-removable) with UAV 10 and/or removable storage that is connectableto UAV 10 via, for example, a port (e.g., a USB port, a Firewire port,etc.) or a drive (e.g., a disk drive, etc.). Electronic storage 19 mayinclude one or more of optically readable storage media (e.g., opticaldisks, etc.), magnetically readable storage media (e.g., magnetic tape,magnetic hard drive, floppy drive, etc.), electrical charge-basedstorage media (e.g., EPROM, EEPROM, RAM, etc.), solid-state storagemedia (e.g., flash drive, etc.), and/or other electronically readablestorage media. Electronic storage 19 may be a separate component withinUAV 10, or electronic storage 19 may be provided integrally with one ormore other components of UAV 10 (e.g., processor 18). Althoughelectronic storage 19 is shown in FIG. 1A as a single element, this isnot intended to be limiting. In some implementations, electronic storage19 may comprise a plurality of storage units. These storage units may bephysically located within the same device, or electronic storage 19 mayrepresent storage functionality of a plurality of devices operating incoordination.

FIG. 3 illustrates method 300 for providing flight control for anunmanned aerial vehicle based on opposing fields of view with overlap.The operations of method 300 presented below are intended to beillustrative. In some implementations, method 300 may be accomplishedwith one or more additional operations not described, and/or without oneor more of the operations discussed. In some implementations, two ormore of the operations may occur substantially simultaneously.

In some implementations, method 300 may be implemented in one or moreprocessing devices (e.g., a digital processor, an analog processor, adigital circuit designed to process information, a central processingunit, a graphics processing unit, a microcontroller, an analog circuitdesigned to process information, a state machine, and/or othermechanisms for electronically processing information). The one or moreprocessing devices may include one or more devices executing some or allof the operations of method 300 in response to instructions storedelectronically on one or more electronic storage mediums. The one ormore processing devices may include one or more devices configuredthrough hardware, firmware, and/or software to be specifically designedfor execution of one or more of the operations of method 300.

Referring to FIG. 3 and method 300, at operation 301, a first outputsignal conveying first visual information within a first field of viewof a first optical element may be generated. The first field of view maybe greater than 180 degrees. Visual information may include one or moreof an image, a video, and/or other visual information. In someimplementations, operation 301 may be performed by one or more imagesensors the same as or similar to first image sensor 14 (shown in FIG.1B and described herein).

At operation 302, a second output signal conveying second visualinformation within a second field of view of a second optical elementmay be generated. The second field of view may be greater than 180degrees. The second optical element may be carried by a UAV such that acenterline of the second field of view is substantially opposite from acenterline of the first field of view. A peripheral portion of the firstfield of view and a peripheral portion of the second field of view mayoverlap. In some implementations, operation 302 may be performed by oneor more image sensors the same as or similar to second image sensor 15(shown in FIG. 1B and described herein).

At operation 303, a disparity of an object within the overlappingportions of the peripheral portion of the first field of view and theperipheral portion of the second field of view may be determined. Insome implementations, operation 303 may be performed by one or moreprocessors the same as or similar to processor 18.

At operation 304, flight control based on the disparity may be providedfor the UAV. In some implementations, operation 304 may be performed byone or more processors the same as or similar to processor 18.

Although the system(s) and/or method(s) of this disclosure have beendescribed in detail for the purpose of illustration based on what iscurrently considered to be the most practical and preferredimplementations, it is to be understood that such detail is solely forthat purpose and that the disclosure is not limited to the disclosedimplementations, but, on the contrary, is intended to covermodifications and equivalent arrangements that are within the spirit andscope of the appended claims. For example, it is to be understood thatthe present disclosure contemplates that, to the extent possible, one ormore features of any implementation can be combined with one or morefeatures of any other implementation.

What is claimed is:
 1. An unmanned aerial vehicle, comprising: a firstoptical element configured to guide light within a first field of viewto a first image sensor, the first optical element being verticallyoriented such that the first field of view is directed upwards when theunmanned aerial vehicle operates; and a second optical elementconfigured to guide light within a second field of view to a secondimage sensor, the second optical element being positioned such that aperipheral portion of the first field of view and a peripheral portionof the second field of view overlap, and being vertically oriented suchthat the second field of view is directed downwards when the unmannedaerial vehicle operates.
 2. The unmanned aerial vehicle of claim 1,further comprising: a housing; and a motor carried by the housing, themotor configured to drive a rotor.
 3. The unmanned aerial vehicle ofclaim 2, wherein the first optical element is carried by the housingsuch that a centerline of the first field of view is substantiallyparallel to a vertical axis of the unmanned aerial vehicle.
 4. Theunmanned aerial vehicle of claim 2, wherein the first optical element iscarried by the housing such that a centerline of the first field of viewis coincident with a vertical axis of the unmanned aerial vehicle. 5.The unmanned aerial vehicle of claim 2, wherein the first opticalelement is carried by the housing such that a centerline of the firstfield of view is not coincident with a vertical axis of the unmannedaerial vehicle.
 6. The unmanned aerial vehicle of claim 2, wherein thefirst optical element is carried by the housing such that a centerlineof the first field of view is offset from a vertical axis of theunmanned aerial vehicle by ten degrees or less.
 7. The unmanned aerialvehicle of claim 2, wherein the first optical element is carried by thehousing such that an offset of a centerline of the first field of viewfrom the vertical axis of the unmanned aerial vehicle changes based on atilt of the unmanned aerial vehicle.
 8. The unmanned aerial vehicle ofclaim 2, wherein the first optical element and the second opticalelement are carried by the housing such that a centerline of the firstfield of view is coincident with a centerline of the second field ofview.
 9. The unmanned aerial vehicle of claim 2, wherein the firstoptical element and the second optical element are carried by thehousing such that a centerline of the first field of view is notcoincident with a centerline of the second field of view.
 10. Theunmanned aerial vehicle of claim 1, wherein the peripheral portion ofthe first field of view and the peripheral portion of the second fieldof view that overlap circumscribe the unmanned aerial vehicle around avertical axis of the unmanned aerial vehicle.
 11. An unmanned aerialvehicle, comprising: a housing; a rotor; a motor configured to drive therotor; a first image sensor; a second image sensor; a first opticalelement configured to guide light within a first field of view to thefirst image sensor; and a second optical element configured to guidelight within a second field of view to the second image sensor, thesecond optical element being carried by the housing such that aperipheral portion of the first field of view and a peripheral portionof the second field of view overlap.
 12. The unmanned aerial vehicle ofclaim 11, wherein the first optical element is carried by the housingsuch that any of a centerline of the first field of view issubstantially parallel to a vertical axis of the unmanned aerialvehicle, a centerline of the first field of view is coincident with thevertical axis of the unmanned aerial vehicle, a centerline of the firstfield of view is not coincident with the vertical axis of the unmannedaerial vehicle, and a centerline of the first field of view is offsetfrom the vertical axis of the unmanned aerial vehicle by ten degrees orless.
 13. The unmanned aerial vehicle of claim 11, wherein the firstoptical element is carried by the housing such that an offset of acenterline of the first field of view from the vertical axis of theunmanned aerial vehicle changes based on a tilt of the unmanned aerialvehicle.
 14. The unmanned aerial vehicle of claim 11, wherein the firstoptical element and the second optical element are carried by thehousing such that any of a centerline of the first field of view iscoincident with a centerline of the second field of view and acenterline of the first field of view is not coincident with acenterline of the second field of view.
 15. The unmanned aerial vehicleof claim 11, wherein the peripheral portion of the first field of viewand the peripheral portion of the second field of view that overlapcircumscribe the unmanned aerial vehicle around a vertical axis of theunmanned aerial vehicle.
 16. The unmanned aerial vehicle of claim 11,wherein the peripheral portion of the first field of view and theperipheral portion of the second field of view that overlap circumscribethe unmanned aerial vehicle and include 360 degrees of lateraldirections around the unmanned aerial vehicle.
 17. A non-transitorycomputer readable storage medium having instructions executed thereonthat, when executed by a processor, causes the processor to: generate afirst output signal conveying first visual information within a firstfield of view of a first optical element, wherein the first opticalelement is carried by an unmanned aerial vehicle and is verticaloriented such that the first field of view is directed upwards when theunmanned aerial vehicle operates leveled with respect to ground; andgenerate a second output signal conveying second visual informationwithin a second field of view of a second optical element, wherein thesecond optical element is carried by the unmanned aerial vehicle suchthat a peripheral portion of the first field of view and a peripheralportion of the second field of view overlap, and is vertically orientedsuch that the second field of view is directed downwards when theunmanned aerial vehicle operates leveled with respect to ground.
 18. Thenon-transitory computer readable storage medium of claim 17, wherein anyof a centerline of the first field of view is substantially parallel toa vertical axis of the unmanned aerial vehicle, a centerline of thefirst field of view is coincident with the vertical axis of the unmannedaerial vehicle, a centerline of the first field of view is notcoincident with the vertical axis of the unmanned aerial vehicle, and acenterline of the first field of view is offset from a vertical axis ofthe unmanned aerial vehicle by ten degrees or less.
 19. Thenon-transitory computer readable storage medium of claim 17, wherein theperipheral portion of the first field of view and the peripheral portionof the second field of view that overlap circumscribe the unmannedaerial vehicle around a vertical axis of the unmanned aerial vehicle.20. The non-transitory computer readable storage medium of claim 17,wherein the peripheral portion of the first field of view and theperipheral portion of the second field of view that overlap circumscribethe unmanned aerial vehicle and include 360 degrees of lateraldirections around the unmanned aerial vehicle.